US7958962B2 - Device for detecting a collision of a vehicle with an obstacle - Google Patents

Device for detecting a collision of a vehicle with an obstacle Download PDF

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Publication number
US7958962B2
US7958962B2 US11/661,718 US66171805A US7958962B2 US 7958962 B2 US7958962 B2 US 7958962B2 US 66171805 A US66171805 A US 66171805A US 7958962 B2 US7958962 B2 US 7958962B2
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Prior art keywords
vehicle
collision
ultrasonic
evaluation unit
ultrasonic transmitter
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US11/661,718
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US20090188742A1 (en
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Anton Dukart
Thorsten Sohnke
Mirko Ruhs
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Robert Bosch GmbH
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Robert Bosch GmbH
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Assigned to ROBERT BOSCH GMBH reassignment ROBERT BOSCH GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: RUHS, MIRKO, SOHNKE, THORSTEN, DUKART, ANTON
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0136—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to actual contact with an obstacle, e.g. to vehicle deformation, bumper displacement or bumper velocity relative to the vehicle

Definitions

  • the present invention relates to a collision detection device for a vehicle.
  • the ultrasonic sensors are realized as transceiver units for ultrasonic signals.
  • An ultrasonic signal is sent out by the ultrasonic transceiver unit and is reflected by an obstacle in the surrounding environment of the vehicle.
  • the reflected signal is then received by the ultrasonic transceiver unit.
  • a distance of the obstacle from the ultrasonic sensor is determined.
  • this measured distance is used to operate a warning device that warns a driver of the vehicle against approaching too close to obstacles.
  • the ultrasonic transceiver unit has a membrane capable of oscillation on which a piezo-element is situated.
  • the piezo-element In a first operating mode, the piezo-element is used to excite the membrane to oscillation, and thus to send out ultrasonic signals.
  • oscillations received by the membrane are also transmitted to the piezo-element, so that the oscillations have the result that at the piezo-element a voltage corresponding to the oscillations can be picked off, amplified, and evaluated in order to determine the propagation time of the reflected signal and to obtain the distance value therefrom.
  • acceleration sensors that detect a sudden deceleration of the vehicle. If the vehicle collides with an obstacle and is sharply decelerated by this collision, the resulting deceleration can be detected via the acceleration sensor. Dependent on the detected deceleration, restraint devices in the vehicle can be triggered, for example, a safety belt or an airbag.
  • the device according to the present invention for detecting a collision of a vehicle with an obstacle has the advantage that an ultrasonic receiver unit is used to recognize a collision with an obstacle.
  • the receiver unit of the membrane is used to detect sound that is produced by a collision of the vehicle with an obstacle. If the vehicle collides with the obstacle, the body of the car, or parts thereof, are deformed by this collision. This deformation produces sound that propagates through the air and in particular also through the vehicle. The sound waves also reach the ultrasonic receiver unit.
  • the membrane of the ultrasonic receiver unit is in general designed for a particular ultrasonic frequency, strong oscillations in this frequency range are also triggered by a deformation caused by the collision.
  • the ultrasonic sensor can also detect the actual beginning point of a collision during an evaluation of these sound signals. As a collision begins to occur, the sound signals produced by it can already be detected, so that it is not necessary for a high acceleration first to occur in the vehicle, whereupon, for example, an acceleration sensor can first detect the occurrence of a collision.
  • measurement values of the acceleration sensor can at least tested for plausibility. If, for example, only a very strong braking is taking place, and a collision is not occurring, it will not be necessary to trigger a safety device, e.g., the airbag. On the other hand, the triggering process can be accelerated if a collision is actually present. In this way, passenger safety can be increased by an early recognition of a collision with an obstacle, in particular with another vehicle.
  • the ultrasonic receiver unit is advantageous to situate the ultrasonic receiver unit in a bumper of the vehicle, or on the side of the vehicle, because here the earliest impact point of an obstacle with the vehicle is to be expected. In this way, the ultrasonic receiver unit is as close as possible to the location at which the sound arising during a collision is produced.
  • the amplitude and/or the duration of the produced sound signal can be used to determine information about the degree of severity of a collision. This can be used to prevent an unnecessary triggering of the airbag, for example in the case of minor collisions.
  • the ultrasonic receiver unit in such a way that in general it can also be used to determine the distances from obstacles in the surrounding environment of the vehicle.
  • the installation of additional receiver units can be done without, and on the other hand, an additional function is enabled for an ultrasonic distance measurement unit in the vehicle, which can further increase passenger safety.
  • FIG. 1 shows an example embodiment of a device according to the present invention for detecting a collision of a vehicle with an obstacle.
  • FIG. 2 shows an example of a measurement signal for a distance measurement and for an acquisition of a sound signal in the case of a collision in accordance with the present invention.
  • FIG. 3 shows the flowchart for an example method according to the present invention for collision detection.
  • the device according to the present invention for detecting a collision is illustrated in connection with FIG. 1 , which shows the front area of a motor vehicle 1 , and ultrasonic sensors 3 are situated at the front side 2 of the vehicle. Ultrasonic sensors 4 are also situated on the left and on the right side of the vehicle. In the present specific embodiment, ultrasonic sensors 3 , 4 are realized as ultrasonic transceiver units. However, for the operation of the device according to the present invention for collision acquisition, ultrasonic sensors that operate only as ultrasonic receiver units are sufficient. Ultrasonic sensors 3 , 4 may be situated in a bumper of the vehicle. Alternatively, the laterally situated ultrasonic sensors 4 can also be installed in a side area of the vehicle body.
  • Ultrasonic sensors 3 , 4 are connected to an evaluation unit 5 via a data bus 6 .
  • ultrasonic sensors 3 , 4 transmit sound signals immediately to evaluation unit 5 .
  • the received sound signals can also be evaluated immediately in the ultrasonic sensors in order to discover what distance is present to an obstacle, or whether a collision is present.
  • a result signal is sent to evaluation unit 5 for further evaluation.
  • a binary sound signal is transmitted. This binary sound signal is obtained by setting the binary evaluation signal to the value 1 when a predetermined amplitude value is exceeded. If the detected amplitude is less than this value, the signal is set to the value 0. The binary evaluation signal is subsequently further processed by the evaluation unit.
  • evaluation unit 5 has a first processing unit 7 for determining distance.
  • the evaluation unit has at least one component unit for determining a collision.
  • evaluation units 7 , 8 are combined in one evaluation unit 5 . However, they can also be situated separately in the vehicle.
  • evaluation unit 5 is connected to output units for warning the driver.
  • it is connected to a display 9 that warns the driver of a collision with obstacles.
  • a warning symbol is presented when the vehicle comes too close to an obstacle.
  • a current distance value can also be shown in numerical form or symbolically.
  • evaluation unit 5 is connected to a loudspeaker 10 that outputs signal tones dependent on the distance of the vehicle from an obstacle.
  • a corresponding item of information is transmitted via a second data bus 11 , e.g., a CAN bus, to restraint devices in the vehicle.
  • a second data bus 11 e.g., a CAN bus
  • an airbag 12 and/or a safety belt 13 is here connected to the data bus.
  • additional restraint means can be connected to the data bus. These can be, for example, additional airbag units in the vehicle, e.g., a side airbag.
  • a temporal curve is shown of a sound signal received by an ultrasonic receiver unit, plotted over time.
  • a binary evaluation signal produced by the ultrasonic receiver unit dependent on the received sound signal, is shown, likewise plotted over time.
  • first time interval 22 ultrasonic receiver unit receives only interference signals, produced for example by the driving movement of the vehicle.
  • the binary evaluation signal is set to the value 0.
  • second time interval 23 the ultrasonic sensor sends out a signal. This excites the membrane to oscillation.
  • the binary evaluation signal is set to the value 1.
  • Third time interval 24 corresponds to the time that the sound signal requires in order to be reflected by the obstacle.
  • fourth time interval 25 the reflected sound signal is received, whose amplitude is significantly less than that of the sound signal that was sent out. This is due to the fact that the sent sound signal is attenuated during the reflection process.
  • a collision occurs. Due to the deformation of the body, a sound signal is produced having a random pattern, in which a binary evaluation signal is produced in a stochastic signal sequence without a signal being sent out. In contrast to the regular patterns, or in contrast also to individual, rarely occurring false detections of the ultrasonic signal, the presence of a collision can be inferred from the stochastic pattern of the received sound signal.
  • FIG. 3 shows a method according to the present invention for collision acquisition.
  • the receiver unit is operated such that, in a first test step 31 , evaluation unit 5 checks at regular time intervals to see whether a binary evaluation signal of one of the ultrasonic receiver units has been set to the value 1. If this is not the case, branching back to measurement step 30 takes place for the repetition of a query. If an evaluation signal is measured, then in a second test step 32 it is checked whether a transmit signal was previously sent out for which no echo has yet been received. If this is the case, branching takes place to a distance evaluation step 33 , in which the distance is determined from the propagation time of the sent, reflected signal.
  • a warning corresponding to the distance e.g., an optical and/or acoustic signal
  • branching takes place back to measurement step 30 .
  • second test step 32 it was determined that no signal was previously sent out, branching takes place to a third test step 34 .
  • third test step 34 it is checked whether the detected signal is an individual interference signal, i.e., a possible false detection. If no additional sound signals arrive within a predetermined time segment, e.g., a millisecond, a false signal is probably present, and branching takes place back to measurement step 30 . However, if additional signals arrive that have changing width and changing temporal intervals, a collision is probably present.
  • a collision warning step 35 a corresponding collision warning is forwarded to a control unit of restraint devices in the vehicle.
  • the restraint devices can thus be switched at least into an alarm state.
  • Other collision acquisition devices can be tested for plausibility with respect to a possible collision detected by them.
  • a restraint device in the vehicle can also be triggered immediately, dependent on the collision warning signal transmitted by the evaluation unit.
  • arbitrary other devices such as, for example, an automatic emergency call transmitter, a brake servo cylinder, an automatic door unlocking, or a device for cutting off the fuel supply, can automatically take the received signal into account and can carry out the provided function in the case of a collision.
  • the evaluation unit selects the received binary evaluation signals in such a way that it determines the severity of a collision on the basis of the duration of individual signals and from the duration of the signal transmission.
  • a collision is more severe the more signals arrive and the longer the signals last, because in this case the deformation of the body is more severe, so that a more intensive sound signal is produced.
  • evaluation unit 5 can also determine the severity of a collision, and can send corresponding information concerning the severity of the collision to the restraint device in the vehicle.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Air Bags (AREA)
US11/661,718 2004-09-06 2005-08-01 Device for detecting a collision of a vehicle with an obstacle Expired - Fee Related US7958962B2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102004043597 2004-09-06
DE102004043597.9 2004-09-06
DE102004043597A DE102004043597A1 (de) 2004-09-06 2004-09-06 Einrichtung zur Erfassung einer Kollision eines Fahrzeugs mit einem Hindernis
PCT/EP2005/053731 WO2006027293A1 (de) 2004-09-06 2005-08-01 Einrichtung zur erfassung einer kollision eines fahrzeug mit einem hindernis

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US20090188742A1 US20090188742A1 (en) 2009-07-30
US7958962B2 true US7958962B2 (en) 2011-06-14

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US11/661,718 Expired - Fee Related US7958962B2 (en) 2004-09-06 2005-08-01 Device for detecting a collision of a vehicle with an obstacle

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US (1) US7958962B2 (zh)
EP (1) EP1791730A1 (zh)
CN (1) CN101010223B (zh)
DE (1) DE102004043597A1 (zh)
WO (1) WO2006027293A1 (zh)

Cited By (9)

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US20100071471A1 (en) * 2008-09-19 2010-03-25 Denso Corporation Obstacle detection system
US20120072078A1 (en) * 2010-09-17 2012-03-22 Keihin Corporation Collision determining apparatus for vehicle
US20130218419A1 (en) * 2011-08-25 2013-08-22 Volvo Car Corporation Method, computer program product and system for utilizing vehicle safety equipment
US20140156146A1 (en) * 2012-12-04 2014-06-05 Hyundai Motor Company External airbag deployment system and method
US20140365095A1 (en) * 2013-06-10 2014-12-11 Hyundai Motor Company Apparatus of sensing minor collision of vehicle and method thereof
US20150203030A1 (en) * 2012-08-29 2015-07-23 Continental Automotive Gmbh Multi-Sensory Attention Alert System
US20160229398A1 (en) * 2015-02-07 2016-08-11 Hella Kgaa Hueck & Co. Method for at least partially automatically controlling a motor vehicle
US11167755B2 (en) 2015-02-07 2021-11-09 Hella Kgaa Hueck & Co. Method for at least partially automatically controlling a motor vehicle
US12025632B2 (en) 2022-09-20 2024-07-02 Geotab Inc. Low-power acceleration detection in a telematics device

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DE102006030847B3 (de) * 2006-07-04 2007-10-04 Siemens Ag Verfahren und Vorrichtung zum Erkennen eines Aufpralls eines Objekts auf ein Kraftfahrzeug und Kraftfahrzeug
DE102007002737A1 (de) 2007-01-18 2008-07-24 Robert Bosch Gmbh Verfahren zur Plausibilisierung eines Unfallereignisses in Fahrzeugen
DE102007046982B3 (de) * 2007-10-01 2009-03-05 Fendt, Günter Einrichtung zur Erfassung einer Unfallsituation und Verfahren zum Erkennen einer Unfallsituation und/oder zum Steuern eines Personschutzsystems
EP2484567B1 (en) * 2011-02-08 2017-12-27 Volvo Car Corporation An onboard perception system
DE102015213576A1 (de) * 2015-05-11 2016-11-17 Robert Bosch Gmbh Verfahren zur Ansteuerung von Rückhaltemitteln für ein Fahrzeug, Computerprogramm, elektronisches Speichermedium und Vorrichtung Ansteuerung von Rückhaltemitteln für ein Fahrzeug
AU2016381255A1 (en) * 2015-12-30 2018-08-16 Thmgrp Multipurpose event detection sensor and payload alert system
DE102016202037B4 (de) * 2016-02-11 2023-02-23 Robert Bosch Gmbh Verfahren zum Betreiben eines Ultraschallsensors und Einrichtung zur Erkennung eines Crashfalls
CN110696716A (zh) * 2018-07-09 2020-01-17 上海擎感智能科技有限公司 车辆报警方法、车辆报警系统、车载终端、及车辆
CN113246893A (zh) * 2020-02-13 2021-08-13 宁波吉利汽车研究开发有限公司 一种车辆碰撞处理方法及系统
CN113246894B (zh) * 2020-02-13 2022-11-22 宁波吉利汽车研究开发有限公司 一种车辆碰撞检测方法及装置
CN112277936B (zh) * 2020-10-10 2021-08-06 广州亚美智造科技有限公司 车辆碰撞检测处理方法、装置、车载终端和存储介质
CN114670769A (zh) * 2020-12-24 2022-06-28 宝能汽车集团有限公司 车辆及其碰撞事件识别方法、装置和存储介质
CN113479239A (zh) * 2021-06-24 2021-10-08 中车株洲电力机车有限公司 一种轨道车辆及其障碍物检测方法与系统
US11601542B1 (en) 2021-09-22 2023-03-07 GM Global Technology Operations LLC Crash detection system comprising a microphone, first and second batteries, and first and second antennas and a method of operating the same

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US20100071471A1 (en) * 2008-09-19 2010-03-25 Denso Corporation Obstacle detection system
US8136404B2 (en) * 2008-09-19 2012-03-20 Denso Corporation Obstacle detection system
US20120072078A1 (en) * 2010-09-17 2012-03-22 Keihin Corporation Collision determining apparatus for vehicle
US9415736B2 (en) * 2011-08-25 2016-08-16 Volvo Car Corporation Method, computer program product and system for utilizing vehicle safety equipment
US20130218419A1 (en) * 2011-08-25 2013-08-22 Volvo Car Corporation Method, computer program product and system for utilizing vehicle safety equipment
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US20140156146A1 (en) * 2012-12-04 2014-06-05 Hyundai Motor Company External airbag deployment system and method
US20140365095A1 (en) * 2013-06-10 2014-12-11 Hyundai Motor Company Apparatus of sensing minor collision of vehicle and method thereof
US9233667B2 (en) * 2013-06-10 2016-01-12 Hyundai Motor Company Apparatus of sensing minor collision of vehicle and method thereof
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US10081356B2 (en) * 2015-02-07 2018-09-25 Hella Kgaa Hueck & Co. Method for at least partially automatically controlling a motor vehicle
US11167755B2 (en) 2015-02-07 2021-11-09 Hella Kgaa Hueck & Co. Method for at least partially automatically controlling a motor vehicle
US12025632B2 (en) 2022-09-20 2024-07-02 Geotab Inc. Low-power acceleration detection in a telematics device

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EP1791730A1 (de) 2007-06-06
CN101010223B (zh) 2013-01-09
CN101010223A (zh) 2007-08-01
US20090188742A1 (en) 2009-07-30
WO2006027293A1 (de) 2006-03-16
DE102004043597A1 (de) 2006-03-09

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